Nozzle, valve, and manifold assembly for precision application of crop protectant

ABSTRACT

A treatment system for spraying treatment fluid onto plants in a field is described. The treatment system includes a highly configurable treatment mechanism including an array of nozzles and valve assemblies coupled into manifolds, and manifold assemblies. The manifolds of the manifold assemblies can be oriented in an open state or a nested state, the open state with no overlap between nozzles of adjacent manifolds and the nested state with overlap between nozzles of adjacent manifolds. The manifolds can have multiple configurations, examples of which include a tube manifold and an offset manifold. The nozzles of the system can have multiple configurations, examples of which include a tri-spray nozzle, a bar nozzle, a fan nozzle, and a deflected fan nozzle. The system can be controlled by a system controller which detects plant material and instructs a nozzle or combination of nozzles to spray treatment fluid.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.62/289,804, filed Feb. 1, 2016 and U.S. Provisional Application No.62/422,424, filed Nov. 15, 2016, the contents of which are herebyincorporated by reference in their entirety.

BACKGROUND Field of Disclosure

This application relates to a system for applying treatment fluid toplants in a field, and more specifically to nozzle and valve assemblyarrays and nozzle structures.

Description of the Related Art

Current methods of spraying crop protectant on a post-emergent croptypically fall in two categories: a total field broadcast sprayer, or ahooded broadcast sprayer. A total field broadcast sprayerindiscriminately applies treatment fluid to crops in a field, while thehooded broadcast sprayer introduces components to limit the ability ofthe treatment fluid to affect crops in adjacent fields. The resolutionof these sprayers is minimal, with the broadcast sprayers generallyapplied on a field level.

There are a few broadcast sprayers that limit the amount of sprayapplied to a field by applying color recognition software to a cameracoupled to the detect the presence of ‘green’ to indicate plants tospray. To date there is no solution for sprayers to apply treatments totargeted areas in a more specific way than ‘green/not green,’ nor isthere a way to apply treatment to plants in rows having varying crop rowwidths with minimal overspray, and further no way to accomplish variablespray patterns.

SUMMARY

Described is a system for applying treatment fluid to plants in a fieldincluding any number of nozzles and valve assemblies. The nozzles eachinclude a nozzle inlet and a nozzle exit, the nozzle exits alignedparallel to a nozzle row that is substantially perpendicular to the needline. The valve assemblies each include a valve exit fluidically coupledto the nozzle inlets to feed nozzle treatment fluid into the nozzleinlets. The nozzles and valve assemblies can be grouped into manifoldswhich can be further grouped into manifold assemblies. The manifoldassemblies are coupled such that the manifolds of each assembly can bein an open state in which there is no overlap between nozzles ofadjacent manifolds or a nested state in which there is at least someoverlap between nozzles of adjacent manifolds.

The nozzles can be grouped into any number of cassettes, the cassettescoupling the nozzles to the manifolds. In one embodiment, the cassettesof the manifolds are coupled such that they are offset and there is nooverlap between nozzles of each cassette along the seed line and nozzlerow. In the nested state of this embodiment, back side of a firstcassette of a first manifold overlaps the front side of a secondadjacent cassette along the nozzle axis such that there is overlapbetween the nozzles of the manifolds along the nozzle axis.

In another embodiment, the cassettes of the manifold are oriented suchthere is no overlap between nozzles of each cassette along the seedline, but the nozzles of each cassette overlap along the nozzle axis. Inthe nested state of this embodiment, a first manifold and secondmanifold are offset from one another in the direction of the seed linesuch that the nozzle exits of the first manifold and the second manifoldcan at least partially overlap along the nozzle axis.

Each cassette can have any number of nozzles and valve assembliesgrouped in any number. Each of the nozzles of the cassette, or groups ofnozzles, can be independently controlled and configured. The nozzles caninclude a tri-spray nozzle, a bar nozzle, a fan nozzle, and an offsetfan nozzle, each nozzle having a different spray pattern.

Each valve assembly can include an injection solenoid coupled to thesystem controller for controlling injection of treatment fluid into thespray nozzle. The solenoid of the valve assembly can control a springplunger for pushing treatment fluid into the nozzle as the solenoidraises and lowers the spring plunger. The valve assemblies arefluidically coupled to at least one treatment reservoir and pump systemconfigured to move treatment fluid into the valve assemblies.

The system may also include a system controller for detecting plantmaterial and sending instructions through the system to induce sprayingof plant material as the system moves through the field.

BRIEF DESCRIPTION OF DRAWINGS

The disclosed embodiments have advantages and features which will bemore readily apparent from the detailed description, the appendedclaims, and the accompanying figures (or drawings). A brief introductionof the figures is below.

FIG. 1A is a side view illustration of a system for applying a treatmentfluid to plants in a field, according to one embodiment.

FIG. 1B is a front view illustration of a system for applying atreatment fluid to plants in a field, according to one embodiment.

FIG. 1C is an illustration of the fluidic components and couplings ofthe system, according to one example embodiment.

FIG. 2A illustrates a tube manifold assembly in an open state, in oneexample embodiment.

FIG. 2B illustrates a tube manifold assembly in a nested state, in oneexample embodiment.

FIG. 2C illustrates a front isometric view of a tube manifold, in oneexample embodiment.

FIG. 2D illustrates a front view of a middle cassette of a tubemanifold, in one example embodiment.

FIG. 2E illustrates a front view of right cassette of a tube manifold,in one example embodiment.

FIG. 2F illustrates a front view of a tube manifold including a cassettefor each valve assembly, in one example embodiment.

FIG. 3A illustrates an offset manifold assembly in an open state, in oneexample embodiment.

FIG. 3B illustrates an offset manifold assembly in a nested state, inone example embodiment.

FIG. 3C illustrates an isometric view of the offset manifold, in oneexample embodiment.

FIG. 3D illustrates a planar view of the bottom of the offset manifold,in one example embodiment.

FIG. 4A illustrates a cross-sectional view of a valve assembly, in oneexample embodiment.

FIG. 4B illustrates a cross-section view of a valve assembly configuredto couple to a tube manifold, in one example embodiment.

FIG. 4C illustrates a cross-section view of a valve assembly configuredto couple to an offset manifold, in one example embodiment.

FIG. 5A illustrates a cross-section view of a tri-flow nozzle, in oneexample embodiment.

FIG. 5B illustrates a bottom planar view of a tri-spray nozzle, in oneexample embodiment.

FIG. 5C illustrates a top planar view of a tri-spray nozzle, in oneexample embodiment.

FIG. 5D illustrates an isometric view of a tri-spray nozzle, in oneexample embodiment.

FIG. 5E illustrates a side view of a tri-spray nozzle, in one exampleembodiment.

FIG. 5F illustrates a cross-section view of a tri-spray nozzle in analternate configuration, in one example embodiment.

FIG. 6A is a head-on view of a fan nozzle, in one example embodiment.

FIG. 6B is a side view of a fan nozzle, in one example embodiment.

FIG. 6C is a head-on view cross-section of a fan nozzle, in one exampleembodiment.

FIG. 6D is side-view cross-section of a fan nozzle, according to asecond embodiment.

FIG. 7A is a head-on view cross-section of a bar nozzle, in one exampleembodiment.

FIG. 7B is a side view cross-section of a bar nozzle, in one exampleembodiment.

FIG. 7C illustrates an isometric view of a bar nozzle coupled to a valveassembly, in one example embodiment.

FIG. 7D illustrates an isometric view of a bar nozzle in an alternativeconfiguration, in one example embodiment.

FIG. 7E illustrates an isometric view of a bar nozzle in an alternativeconfiguration, in one example embodiment.

FIG. 7F is a head-on view cross-section of a bar nozzle in analternative configuration, in one example embodiment.

FIG. 8A is a cross section view of an offset fan nozzle, in one exampleembodiment.

FIG. 8B is an isometric view of an offset fan nozzle, in one exampleembodiment.

FIG. 9 is a block diagram of an environment in which captured images canbe used to identify unique plant features for treatment, according toone embodiment.

DETAILED DESCRIPTION

I. Plant Treatment System

FIG. 1A is a side view illustration of a system for applying a treatmentfluid to plants in a field and FIG. 1B is a front view illustration ofthe same system. The system 100 for plant treatment includes a detectionmechanism 110, a treatment mechanism 120, and a control system 130. Thesystem 100 can additionally include a mounting mechanism 140, averification mechanism 150, a power source, digital memory,communication apparatus, or any other suitable component.

The system 100 functions to apply a treatment to one or multiple plants102 within a geographic area 104. Often, treatments function to regulateplant growth. The treatment is directly applied to a single plant 102(e.g., hygroscopic material), but can alternatively be directly appliedto multiple plants, indirectly applied to one or more plants, applied tothe environment associated with the plant (e.g., soil, atmosphere, orother suitable portion of the plant environment adjacent to or connectedby an environmental factor, such as wind), or otherwise applied to theplants. Treatments that can be applied include necrosing the plant,necrosing a portion of the plant (e.g., pruning), regulating plantgrowth, or any other suitable plant treatment. Necrosing the plant caninclude dislodging the plant from the supporting substrate 106,incinerating a portion of the plant, applying a treatment concentrationof working fluid (e.g., fertilizer, hormone, water, etc.) to the plant,or treating the plant in any other suitable manner. Regulating plant 102growth can include promoting plant growth, promoting growth of a plantportion, hindering (e.g., retarding) plant or plant portion growth, orotherwise controlling plant growth. Examples of regulating plant 102growth includes applying growth hormone to the plant, applyingfertilizer to the plant or substrate 106, applying a disease treatmentor insect treatment to the plant, electrically stimulating the plant,watering the plant, pruning the plant, or otherwise treating the plant.Plant growth can additionally be regulated by pruning, necrosing, orotherwise treating the plants adjacent the plant.

The plants 102 can be crops, but can alternatively be weeds or any othersuitable plant. The crop may be cotton, but can alternatively belettuce, soy beans, rice, carrots, tomatoes, corn, broccoli, cabbage,potatoes, wheat or any other suitable commercial crop. The plant fieldin which the system is used is an outdoor plant field, but canalternatively be plants within a greenhouse, a laboratory, a grow house,a set of containers, a machine, or any other suitable environment. Theplants are grown in one or more plant rows (e.g., plant beds), whereinthe plant rows are parallel, but can alternatively be grown in a set ofplant pots, wherein the plant pots can be ordered into rows or matricesor be randomly distributed, or be grown in any other suitableconfiguration. The crop rows are generally spaced between 2 inches and45 inches apart (e.g. as determined from the longitudinal row axis), butcan alternatively be spaced any suitable distance apart, or havevariable spacing between multiple rows.

The plants 102 within each plant field, plant row, or plant fieldsubdivision generally includes the same type of crop (e.g. same genus,same species, etc.), but can alternatively include multiple crops (e.g.,a first and a second crop), both of which are to be treated. Each plant102 can include a stem, arranged superior (e.g., above) the substrate106, which supports the branches, leaves, and fruits of the plant. Eachplant can additionally include a root system joined to the stem, locatedinferior the substrate plane (e.g., below ground), that supports theplant position and absorbs nutrients and water from the substrate 106.The plant can be a vascular plant, non-vascular plant, ligneous plant,herbaceous plant, or be any suitable type of plant. The plant can have asingle stem, multiple stems, or any number of stems. The plant can havea tap root system or a fibrous root system. The substrate 106 is soil,but can alternatively be a sponge or any other suitable substrate.

The treatment mechanism 120 of the system 100 functions to apply atreatment to the identified plant 102. The treatment mechanism 120includes an active area 122 to which the treatment mechanism 120 appliesthe treatment. The effect of the treatment can include plant necrosis,plant growth stimulation, plant portion necrosis or removal, plantportion growth stimulation, or any other suitable treatment effect. Thetreatment can include plant 102 dislodgement from the substrate 106,severing the plant (e.g., cutting), plant incineration, electricalstimulation of the plant, fertilizer or growth hormone application tothe plant, watering the plant, light or other radiation application tothe plant, injecting one or more working fluids into the substrate 106adjacent the plant (e.g., within a threshold distance from the plant),or otherwise treating the plant. The treatment mechanism 120 is operablebetween a standby mode, wherein the treatment mechanism 120 does notapply a treatment, and a treatment mode, wherein the treatment mechanism120 is controlled by the control system 130 to apply the treatment.However, the treatment mechanism 120 can be operable in any othersuitable number of operation modes.

The system 100 can include a single treatment mechanism 120, or caninclude multiple treatment mechanisms. The multiple treatment mechanismscan be the same type of treatment mechanism, or be different types oftreatment mechanisms. The treatment mechanism 120 can be fixed (e.g.,statically coupled) to the mounting mechanism 140 or relative to thedetection mechanism 110, or actuate relative to the mounting mechanism140 or detection mechanism 110. For example, the treatment mechanism 120can rotate or translate relative to the detection mechanism 110 and/ormounting mechanism 140. In one variation, the system 100 includes anassembly of treatment mechanisms, wherein a treatment mechanism 120 (orsubcomponent of the treatment mechanism 120) of the assembly is selectedto apply the treatment to the identified plant 120 or portion of a plantin response to identification of the plant and the plant positionrelative to the assembly. In a second variation, the system 100 includesa single treatment mechanism, wherein the treatment mechanism isactuated or the system 100 moved to align the treatment mechanism 120active area 122 with the targeted plant 102. In a third variation, thesystem 100 includes an array of treatment mechanisms 120, wherein thetreatment mechanisms 120 are actuated or the system 100 is moved toalign the treatment mechanism 120 active areas 122 with the targetedplant 102 or plant segment.

In one configuration, as shown in FIG. 1C, the treatment mechanism 120can include a spray mechanism 160 wherein the active area includes aspray area. The spray mechanism functions to spray a high pressure jetor spray to apply a treatment to the active area 122, but canalternatively or additionally function to apply a force (e.g., a cuttingforce) to a portion of the plant (e.g., plant stem, leaf, branch, root,or any other suitable plant portion) or substrate, or function to treatthe plant in any other suitable manner. The spray mechanism does notspray working fluid in the standby mode, and sprays a working fluid inthe treatment mode. The working fluid can be water, fertilizer, growthhormone, or any other suitable fluid. The working fluid is emitted(e.g., sprayed) at a spray pressure of approximately 30 psi, within amargin of error (e.g., a 5% margin of error, 2% margin of error, etc.),but can alternatively be emitted at a pressure of 90 psi or at any othersuitable pressure. The spray is emitted from the treatment mechanism 120when positioned within several centimeters (e.g., 1 cm, 5 cm, 10 cm,etc.) of the substrate 106 surface, but can alternatively be positioneda meter away from the substrate surface, 10 meters away from thesubstrate surface, or positioned any suitable distance away from thesubstrate surface.

The spray mechanism includes a nozzle 162. The nozzle 162 is oriented ata 90 degree angle relative to the substrate plane (e.g., pointingstraight down at the substrate plane), but can alternatively be orientedat a 45 degree angle, 30 degree angle, 2 degree angle, or any othersuitable angle relative to the substrate plane. The nozzle 162 canalternatively be actuatable relative to the mounting mechanism ordetection mechanism. The nozzle 162 or its constituent components can beoperable in any suitable number of modes to produce any number of spraypatterns. Alternatively, different nozzles 162 may produce differentspray patterns.

The spray pattern is a solid stream (e.g., solid cone), but canalternatively be a hollow cone, full cone, wide column, fan, flat spray,mist or any other suitable spray pattern for applying treatment fluid toplants 102 in a field. The nozzle 162 can be a single-fluid nozzle, butcan alternatively be a multiple-fluid nozzle. The nozzle 162 can be aplain-orifice nozzle, a shaped-orifice nozzle, a surface-impingementsingle-fluid nozzle, a pressure-swirl single-fluid spray nozzle, asolid-cone single-fluid nozzle, a compound nozzle, an internal mixtwo-fluid nozzle, external-mix two-fluid nozzle, or any other suitablenozzle. The nozzle 162 can have a fixed exit or an actuatable exit suchthat the spray pattern is configurable. Nozzle emission (e.g., nozzlespray) is controlled by a valve assembly, but can alternatively becontrolled by any other suitable control mechanism. The valve assemblycontrols the nozzle to open (e.g., spray) in response to receipt of aspray command from the control system 130, but can alternatively bepassively or mechanically controlled. Detailed configurations of variousexample nozzles that may be used with the system 100 will be describedin later sections.

The spray mechanism can additionally include a pressurization system160, including a reservoir 164 and a pump 166. The spray mechanism canadditionally include a bypass valve 168 fluidly connecting an intake 178fluidly connected to the reservoir 164, a first outtake 170 fluidlyconnected to the reservoir 164, and a second outtake 172 fluidlyconnected to the nozzle 162. The bypass valve 168 is operable between aclosed mode, wherein the bypass valve 168 fluidly disconnects the nozzle162 from the reservoir 164, and an open mode, wherein the bypass valve168 fluidly connects the nozzle 162 to the reservoir 164, more fluidlyconnects the intake with the nozzle 162. The bypass valve 168 can bepassive, wherein the cracking pressure is the same as the desired spraypressure, or can be active, wherein bypass valve actuation from theclosed to open mode is actively controlled, such as by the controlsystem 130. The bypass valve 168 can fluidly disconnect (e.g., seal) theintake from the first outtake 170, or fluidly connect all three fluidmanifolds. The pump 166 pressurizes the reservoir 164 to the spraypressure by pumping the working fluid into the intake, through thebypass valve 168, and through the first outtake 170 into the reservoir164. The pump 166 can pressurize the reservoir 164 with secondary fluidfrom the ambient environment (e.g., from a fluid source or air), orpressurize the working fluid in the reservoir 164 in any other suitablemanner. The bypass valve 168 opens in response to the intake fluidpressure meeting or exceeding the desired spray pressure, such that theintake is fluidly connected to the nozzle 162. In this variation, thetreatment mechanism 120 can additionally include a pressure sensor orflow sensor that measures the fluid pressure or flowrate at the nozzle162, intake, bypass valve 168, first outtake 170, second outtake 172, orreservoir 164, wherein the treatment parameters (e.g., initial spraytime or position) can be subsequently adjusted or determined based onthe measured working fluid parameters.

The spray mechanism can additionally or alternatively include asecondary reservoir 176 (e.g., accumulator) fluidly connected to thereservoir 164 and the nozzle 162, wherein the pump 166 pumps workingfluid from the reservoir 164 to the accumulator 176. The accumulator 176functions to retain a volume of working fluid sufficient to spray apredetermined number of plants. The accumulator 176 can additionallyfunction to pressurize the fluid. The accumulator 176 fluidly connectedto the reservoir 164 between the pump 166 and the nozzle 162. The spraymechanism can additionally include a valve that controls fluid flowbetween the accumulator 176 and the nozzle 162. When a bypass valve 168is used, as in the variant described above, the accumulator 176 isfluidly connected to the intake between the pump 166 and the valve 168.The accumulator 176 is connected in parallel with the nozzle 162, butcan alternatively be connected in series with the nozzle 162. Theaccumulator 176 can be additionally fluidly connected to a secondaryworking fluid reservoir, wherein metered amounts of secondary workingfluid (e.g., fertilizer, growth hormone, etc.) can be provided to theaccumulator 176 to mix with the primary working fluid (e.g., water)within the accumulator 176. However, the spray mechanism can include anyother suitable components. The pressurization system 160 or anycomponent or subsystem of the pressurization system may be incorporatedby any other component of the system 100 to facilitate the treatment ofplants in the field.

In one example configuration, the system 100 can additionally include amounting mechanism 140 that functions to provide a mounting point forthe system components. In one example, as shown in FIG. 1A, the mountingmechanism 140 statically retains and mechanically supports the positionsof the detection mechanism 110, the treatment mechanism 120, and theverification mechanism 150 relative to a longitudinal axis of themounting mechanism 140. The mounting mechanism 140 is a chassis orframe, but can alternatively be any other suitable mounting mechanism.In some configurations, there may be no mounting mechanism 140, or themounting mechanism can be incorporated into any other component of thesystem 100.

In one example system 100, the system may also include a first set ofcoaxial wheels, each wheel of the set arranged along an opposing side ofthe mounting mechanism 140, and can additionally include a second set ofcoaxial wheels, wherein the rotational axis of the second set of wheelsis parallel the rotational axis of the first set of wheels. However, thesystem can include any suitable number of wheels in any suitableconfiguration. The system 100 may also include a coupling mechanism 142,such as a hitch, that functions to removably or statically couple to adrive mechanism, such as a tractor, more to the rear of the drivemechanism (such that the system 100 is dragged behind the drivemechanism), but alternatively the front of the drive mechanism or to theside of the drive mechanism. Alternatively, the system 100 can includethe drive mechanism (e.g., a motor and drive train coupled to the firstand/or second set of wheels). In other example systems, the system mayhave any other means of traversing through the field.

In some example systems, the detection mechanism 110 can be mounted tothe mounting mechanism 140, such that the detection mechanism 110traverses over a geographic location before the treatment mechanism 120traverses over the geographic location. In one variation of the system100, the detection mechanism 110 is statically mounted to the mountingmechanism 140 proximal the treatment mechanism 120. In variantsincluding a verification mechanism 150, the verification mechanism 150is arranged distal the detection mechanism 110, with the treatmentmechanism 120 arranged there between, such that the verificationmechanism 150 traverses over the geographic location after treatmentmechanism 120 traversal. However, the mounting mechanism 140 can retainthe relative positions of the system components in any other suitableconfiguration. In other systems, the detection mechanism 110 can beincorporated into any other component of the system 100.

In some configurations, the system 100 can additionally include averification mechanism 150 that functions to record a measurement of theambient environment of the system 100, which is used to verify ordetermine the extent of plant treatment. The verification mechanism 150records a measurement of the geographic area previously measured by thedetection mechanism 100. The verification mechanism 150 records ameasurement of the geographic region encompassing the plant treated bythe treatment mechanism 120. The verification mechanism measurement canadditionally be used to empirically determine (e.g., calibrate)treatment mechanism operation parameters to obtain the desired treatmenteffect. The verification mechanism 150 can be substantially similar(e.g., be the same type of mechanism as) the detection mechanism 110, orbe different from the detection mechanism 110. The verificationmechanism 150 can be a multispectral camera, a stereo camera, a CCDcamera, a single lens camera, hyperspectral imaging system, LIDAR system(light detection and ranging system), dyanmometer, IR camera, thermalcamera, humidity sensor, light sensor, temperature sensor, or any othersuitable sensor. In other configurations of the system 100, theverification mechanism 150 can be included in other components of thesystem.

In some configurations, the system 100 can additionally include a powersource, which functions to power the system components, including thedetection mechanism 100, control system 130, and treatment mechanism120. The power source can be mounted to the mounting mechanism 140, canbe removably coupled to the mounting mechanism 140, or can be separatefrom the system (e.g., located on the drive mechanism). The power sourcecan be a rechargeable power source (e.g., a set of rechargeablebatteries), an energy harvesting power source (e.g., a solar system), afuel consuming power source (e.g., a set of fuel cells or an internalcombustion system), or any other suitable power source. In otherconfigurations, the power source can be incorporated into any othercomponent of the system 100.

In some configurations, the system 100 can additionally include acommunication apparatus, which functions to communicate (e.g., sendand/or receive) data between the control system 130 and a set of remotedevices. The communication apparatus can be a Wi-Fi communicationsystem, a cellular communication system, a short-range communicationsystem (e.g., Bluetooth, NFC, etc.), or any other suitable communicationsystem.

In the described system 100, the treatment mechanism 120 includes anarray of manifolds, nozzles, and valve assemblies. Nozzles and valveassemblies of the treatment mechanism 120 spray a treatment fluid ontoplants as the system passes over the plants in a field. Generally, thenozzles and valve assemblies can be grouped into any number of cassettesand groups of cassettes (or single cassettes) form a manifold. Multiplemanifolds (or a single manifold) are configured into a manifold assemblyand the manifold assembly is configurable such that the manifoldassembly can be moved through a field to apply treatment to plants.While described in particular configurations and groupings, thegroupings of nozzles, valve assemblies, cassettes, and manifolds cantake any grouping or configuration such that the treatment mechanism 120is able to apply treatment to plants in a field. Further, the treatmentmechanism can also be configured without any of its constituentcomponents or groupings (e.g. spray nozzles and valve assemblies may notgrouped into a cassette, or a treatment mechanism that is a singularmanifold and not a manifold assembly, etc. . . . ) such that thetreatment mechanism is able to apply treatment to plants in a field.

II. Tube Manifold Assembly

The treatment mechanism 120 is a highly configurable component that canbe configured to spray treatment fluid on various plants of differentsizes and seed line spacing. In one embodiment, the treatment mechanism120 is a tube manifold assembly 200 including tube manifolds 220 coupledto various types of spray nozzles 230. The tube manifolds 220 of thetube manifold assembly 200 can be configured for treatment of differentplants 102 and active areas 122.

FIG. 2A illustrates a tube manifold assembly for use in the system 100,in one example embodiment. The tube manifold assembly 200 allows croptreatment fluid to be sprayed on a selected target plant or plantportion. Limiting spraying to a selected target increases the optionsfor crop protectants for use by the system 100. For example, spraying aselected target but not nearby un-selected targets enables thesuccessful weeding of non-GMO crops in a field which may not beherbicide resistant, and which would otherwise might be damaged oraffected by less precise treatment mechanisms.

The tube manifold assembly 200 may include a set of tube manifolds 220allowing multiple tube manifolds to apply treatments to crops 102 ofmultiple crop rows simultaneously. FIG. 2A shows an example of a tubemanifold assembly 200 with two tube manifolds 220, each tube manifoldwith ten small nozzles 230 a and two groups of three large nozzles 230b. Each tube manifold 220 of the tube manifold assembly moves 200 alonga manifold path 240, the tube manifold path 240 parallel to thedirection of travel of the system 100. The tube manifold paths 240 ofthe tube manifolds 220 are approximately parallel.

In the illustrated example embodiment, the ten nozzles 230 a are coupledto the tube manifold as a middle cassette 262 b and each group of largenozzles as a left cassette 262 b and a right cassette 262 c and arefluidically coupled to the manifold support structure 270. Generally,the tube manifolds 220 are oriented such that the nozzles 230 of eachtube manifold 220 (and each cassette 262 of the tube manifold 220)approximate a tube nozzle axis 250 that is perpendicular to the tubemanifold paths 240. Further, there is no overlap between nozzles 230 orcassettes 262 of adjacent tube manifolds 220 (e.g. 220 a and 220 b) inthe tube manifold assembly 200 such that there is a manifold spacing 252between the manifold paths 240.

In this configuration the system 100 moves forward such that the tubemanifold paths 240 are approximately parallel to the seed lines 242 ofthe crops. While the tube manifold paths can take any alignment, ingeneral, the system 100 moves such that the center of each tube manifold220 passes over the approximate center of each plant 102 in a seed line242. The tube nozzle row 250 is approximately perpendicular to the seedlines 242 of the crops. In the illustrated configuration, the tubemanifolds 220 are oriented such that the manifold spacing 252 a (e.g.the distance between adjacent tube manifold 220 centers) isapproximately the crop row width 254 a of the plants 102 (i.e. thespacing between adjacent seed lines 242).

FIG. 2B shows an example of three tube manifolds 220 in a manifoldassembly 200 substantially similar to the configuration of the manifoldassembly of FIG. 2A (in an open configuration), but in a nestedconfiguration. In the nested configuration the nozzles of the three tubemanifolds each include a nozzle row (250 a and 250 b) that isperpendicular to the manifold path 240 of the tube manifolds 220.Further, the second tube manifold 220 b of the tube manifold assembly200 is offset such that the tube nozzle row 250 b of the second tubemanifold 220 b is offset from the nozzle rows 250 a of the first tubemanifold 220 a and third tube manifold 220 c along the seed lines 240.Additionally, there is an overlap between nozzles 230 and cassettes 262of adjacent tube manifolds 220 in the manifold assembly 200 such thatthere is a smaller tube manifold spacing 254 between the manifold paths242 than if there was no overlap between adjacent nozzles 230 andcassettes 262. Finally, the third tube manifold 220 c has a differentconfiguration for the 10 small nozzles 230 a and six large nozzles 230 bin a tube manifold 220 c. One skilled in the art will recognize that thenumber and orientation of the small nozzles 230 a and the large nozzles230 b of a tube manifold 220 can be variable and that the nozzles maybecoupled to the manifold any number of cassettes 262. Additionally, oneskilled in the art will recognize that the number and relativeorientation of tube manifolds 220 and cassettes can be variable.

The crop 102 in the field of FIG. 2B is smaller than the crop of FIG. 2Aand has a smaller crop row width 252. Similar to FIG. 2A, the system 100moves forward such that the manifold paths 240 of the tube manifoldassembly 200 are approximately parallel to the seed lines of the crops242 and the center of each tube manifold 220 passes over the approximatecenter of each plant 102 with the nozzle rows 250 a and 250 bperpendicular to the manifold paths 240 and seed lines 242. Dissimilarto FIG. 2A, due to the overlap between nozzles of adjacent nestingmanifolds 220 (e.g. 220 a and 220 b) in the configuration of FIG. 2B,the manifold spacing 252 b is narrower than the manifold spacing 252 aof FIG. 2A. The tube manifold assembly can apply treatment to crop rowwidths between 2′ and 60.″

In the illustrated examples of FIGS. 2A-2B, to allow the system tochange between row widths (e.g. 254 a to 254 b), the tube manifold 220can be physically mounted and configured relative to each other suchthat adjacent tube manifolds can nest for close spacing for narrowerseed lines, or be expanded out for wider spaced seed lines. The tubemanifolds 220 can be coupled to the tube manifold assembly 200 and thetube manifold assembly 200 can be configured to change the separationand nozzle overlap between adjacent tube manifolds 220, i.e. the degreeof nesting. The tube manifold assembly 200 may include actuators coupledto the tube manifold assembly 200 and tube manifolds 220 to actuate thetube manifolds in to different positions. The actuators may be: motors,springs, levers, pistons, pulleys, gears, or any other component capableof mechanically changing the spacing of the tube manifolds 220. The tubemanifold assembly 200 can be coupled to the mounting mechanism 140 andthe control system 130 such that the system controller is able tocontrol the actuators and change the spacing between tube manifolds 220.While FIGS. 2A-2B demonstrate either two or three tube manifolds in atube manifold assembly, there may be any number of tube manifoldscreating a tube manifold assembly. Additionally, any component of thesystem 100 can be configured with components to change the spacingbetween the tube manifolds 220.

III. Tube Manifold

The tube manifold 220 is a manifold of the tube manifold assembly 200that is configured to apply treatment fluid to plants in a field as thetube manifold assembly passes over plants in a field. Each tube manifoldassembly includes at least one manifold for applying treatment fluid tocrops as the manifold assembly passes above plant material in the field.In the illustrated examples of FIGS. 2A-2B, the manifold can the tubemanifold illustrated in FIGS. 2C-2E.

FIG. 2C illustrates a front isometric view of a tube manifold 260 with aleft cassette 262 a, a middle cassette 262 b, and a right cassette 262c, according to one example embodiment. FIGS. 2D and 2E illustrate afront planar view of the middle cassette 262 b and right cassette 262 cof a tube manifold 260, respectively.

The tube manifold 260 can include a support structure 270, a reservoir(not pictured), a left cassette 262 a, a middle cassette 262 b, a rightcassette 262 c, treatment feed tubes 210, and nozzle control connectors276. Each cassette includes an array of nozzles 230 and valve assemblies278.

Each tube manifold 260 and its components may have a bottom side, a topside, a front side, a back side, a left side, and a right side. In theorientation of the configuration shown in FIG. 2C, the bottom is sidefacing to the bottom of the page the (e.g. towards the crops), the topside facing to the top of the page (e.g. away from the crops), the frontside facing into the plane of the page (e.g. towards the front of thesystem and in the direction the system travels), the back side facingout of the plane of the page (e.g. to the back of the system 100), andthe left side and ride side are referenced from the front facing side(e.g. the left side is facing the left side of the page, and the rightside is facing the right side of the page in the orientation of FIG.2C).

The support structure 270 is a structural support apparatus configuredto mechanically support and couple other components of the tube manifold260. In the illustrated example, the support structure 270 is asubstantially cylindrical tube created from a mechanically rigidmaterial such as aluminum, steel, plastic, or any other material thatcan be used to fabricate components for applying treatment fluid in afield. The support structure 270 contains a hollow cavity that allowstreatment fluid to move along the axis of the support structure. Thesupport structure 270 can be fluidically coupled to the reservoir by thetreatment feed tubes 210. The axis of the support structure is parallelto the tube nozzle axis 250 and perpendicular to the seed lines 240.

In one example configuration, the front side of each cassette 262 may becoupled to the back side of the support structure 270 such that the backsides of the cassettes 262 are substantially flush. The bottom sides ofeach cassette 262 are substantially flush and are oriented such that thefluids exiting the nozzles 230 spray substantially downward towards theplants in the field. The center 280 of the tube manifold 220approximately bisects the support structure 270, or alternatively is theapproximate center of the tube manifold 220. The center 280 of the tubemanifold 220 approximately follows the manifold path 240 in thedirection of movement of the tube manifold assembly 200 and the system100. One skilled in the art will recognize that the constituentcomponents of the tube manifolds 260 can take any orientation orcoupling such that the tube manifold is capable of assisting thetreatment mechanism 120 in applying a treatment to a plant in the field.

The nozzles and cassettes of the tube manifold assembly can take anygrouping such that different groupings of nozzles can spray treatment onthe plants of the field at any time. For example, the back side of theright cassette 262 c is coupled to the valve assemblies 278 c andnozzles 230 c of the right cassette. The nozzles 230 c and valveassemblies 278 c are grouped into a right sprayer group. The middlecassette and left cassette are similarly coupled and grouped into middleand left sprayer groups, respectively. The nozzles 230 and valveassemblies 278 of each sprayer group are adjacently oriented such thatthe nozzle exits are approximately linear. The nozzle exits of eachsprayer group are collinear and additionally collinear to the tubenozzle row 250. Each sprayer group is configured such that individualnozzles of the sprayer group couple to the cassettes 262 and can bemechanically removed and replaced from the tube manifold 220.

In the illustrated configuration, the left 262 a and right 262 bcassettes include three wide nozzles 230 b and their corresponding valveassemblies 278 with each trio of wide nozzles grouped into a left andright sprayer group, respectively. The middle cassette includes tennarrow nozzles 230 a and their corresponding valve assemblies 278grouped into the middle sprayer group. The wide nozzles 230 b applytreatment fluid to a wider active area 122 than the narrow nozzles 230a.

In alternative embodiments, each sprayer group can be divided intonozzle subsets, e.g. in the middle sprayer group there may be a leftsubset of four nozzles, a middle subset of five nozzles, and a rightsubset of one nozzle. The nozzle subsets may take any number and anyconfiguration, including nozzles of different sizes, e.g. a subset withone wide nozzle and one narrow nozzle. Further, each cassette is notlimited to one sprayer group and may have any number of sprayer groupsor nozzle subsets, e.g. the middle cassette may have two sprayer groupsconfigured, each sprayer group divided into nozzle subsets.Additionally, a sprayer group may include nozzles from differentcassettes. The spray of treatment fluid by each sprayer group and nozzlesubset can be independently controlled by the system controller 130.

FIG. 2F illustrates a tube manifold that with a plurality of possibleconfigurations. There tube manifold can include any number of cassettesizes coupling the nozzles to the support structure. The tube manifoldcan have any number of spray groups and nozzle subsets containing anynumber of nozzles across any number of cassettes, as describedpreviously. For example, in one embodiment, all of the nozzles and valveassemblies may be coupled to the support structure via one cassette andall the nozzle and valve assemblies are grouped into a single sprayergroup. In another example, every six adjacent nozzles are coupled to thesupport structure as a cassette, with each cassette having a two sprayergroups. Each sprayer group of each cassette is subdivided into twonozzle subsets, with the first nozzle subset having a singular nozzleand the second nozzle subset having a pair of nozzles.

The treatment feed tubes 210 fluidically couple the support structure270 and valve assemblies 278 to the reservoir. In the illustratedembodiment, the treatment feed tubes 210 mechanically couple to the leftand right side of the support structure 270. The treatment feed tubes270 are constructed from plastic, aluminum, steel, or any other tubingmaterial that can be used to fluidically couple components of the system100.

The nozzle control connectors 276 electrically couple the valveassemblies and nozzles 230 of the tube manifold 260 to the systemcontroller 130. The nozzle control connectors are configured to transmitand receive the control signals of each nozzle and valve assembly. Thecontrol signals dictate the release of treatment fluid as the tubemanifold 260 passes above the plants as the system moves through afield.

IV. Offset Manifold Assembly

FIGS. 3A-3B illustrate another example treatment mechanism 120 for usein the system 100. The illustrated treatment mechanism is a configurableassembly consisting of an offset manifold assembly 300 including offsetmanifolds 320 coupled to spray nozzles 330. The offset manifolds 320 ofthe offset manifold assembly 300 can be configured for treatment ofdifferent plants 102 and active areas 122. Further, the offset manifoldassembly 300 may configure the offset manifolds 310 to apply treatmentsto crops that have differences in seed line spacing.

FIG. 3A shows an example of a three offset manifolds 320 with fourteennozzles 330 per offset manifold in an offset manifold assembly 300,configured in an open state. The offset manifold assembly 300 alsoallows crop treatment fluid to be sprayed on a selected target plant orplant portion.

The offset manifold assembly 300 of FIGS. 3A-3B function similarly tothe tube manifold assembly 200 in FIGS. 2A-2B: each offset manifold 320of the offset manifold assembly 300 moves along a manifold path 240, themanifold path 240 is parallel to the direction of travel of the system100, the manifold path 240 is parallel to the seed lines 242 of theplants 102 in the field, the center of each offset manifold 320 passesover the approximate center of each plant 102, the offset nozzle row 350is perpendicular to the manifold path 240 and seed lines 242, and themanifold spacing 352 a is approximately equal to the crop row width 354a. Further, in the example of FIG. 3A there is no overlap betweennozzles 330 of adjacent offset manifolds 320 (e.g. 320 a and 320 b) inthe offset manifold assembly 300 such that there is a manifold spacing352 a between the manifold paths 240, while in the example of FIG. 3Bthere is overlap between nozzles of adjacent offset manifolds 320 suchthat manifold spacing 352 b is the narrower than the manifold spacing352 a of FIG. 3A.

Also similarly to the tube manifold assembly 200 of FIGS. 2A-2B, thesystem 100 can be configured to change manifold spacing (e.g. 352 a to352 b), i.e. the offset manifolds 300 are shaped such that adjacentoffset manifolds can have variable spacing and overlap of nozzles 330and cassettes 332 depending on the configuration of the system 100 (e.g.nest). In further similarity, the offset manifolds 320 and offsetmanifold assembly 300 can have any number of components or may becoupled to other components of the system 100 that allow for configuringthe manifold spacing 352.

Dissimilar to the configuration of the tube manifold assembly 200 ofFIGS. 2A and 2B, each offset manifold 320 has a left cassette 322 acoupled to a left sprayer group and a right cassette 322 b coupled to aright sprayer group. The left cassette 322 a and the right cassette 322b group are approximately parallel to, and equidistant from, an offsetnozzle row 350 which lies between the two cassettes. The configurationsof the offset manifolds 320 are described in more detail below.

While FIGS. 3A-3B demonstrate three offset manifolds 320 in an offsetmanifold assembly 300, there may be any number of offset manifoldscreating an offset manifold assembly. In the illustrated manifoldassembly of FIG. 3A-3B each of the offset manifolds are collinear butthe offset manifolds may be offset from one another such that the offsetnozzle row 350 of each offset manifolds 320 are not collinear.

V. Offset Manifold

The offset manifold 320 is a manifold of the tube manifold assembly 300that is configured to apply treatment fluid to plants in a field as thetube manifold assembly passes over plants in a field. Each offsetmanifold assembly includes at least one offset manifold for applyingtreatment fluid to crops as the manifold assembly passes above plantmaterial in the field. In the illustrated examples of FIGS. 3A-3B, themanifold is the offset manifold illustrated in FIGS. 3C-2D.

FIG. 3C-3D illustrate an individual offset manifold 320, according toone example embodiment. FIG. 3C gives an isometric view of the offsetmanifold, while FIG. 3D gives a planar view of the bottom of the offsetmanifold. The offset manifold includes a support structure 370, areservoir 372, a left cassette 322 a, a right cassette 322 b, treatmentfeed tubes 374, and nozzle control connectors 376. Each cassetteincludes an array of nozzles 330 and valve assemblies 378.

Each offset manifold 320 and its components can have a bottom side, atop side, a front side, a back side, a left side, and a right side. Inthe orientation of the configuration shown in FIG. 3C, the bottom isside facing to the bottom of the page the (e.g. towards the crops), thetop side facing to the top of the page (e.g. away from the crops), thefront side facing into the plane of the page (e.g. towards the front ofthe system and in the direction the system travels), the back sidefacing out of the plane of the page (e.g. to the back of the system),and the left side and ride side are referenced from the front facingside (e.g. the left side is facing the left side of the page, and theright side is facing the right side of the page in the orientation ofFIG. 3C).

In the illustrated example configuration, the support structure 370 is astructural support apparatus configured to mechanically support andcouple all other components of the offset manifold 320. In oneembodiment, the support structure 370 is a substantially rectangularblock created from a mechanically rigid material such as aluminum,steel, plastic, or any other material that can be used to fabricateplant treatment systems.

In the illustrated example configuration, the bottom side of thereservoir 372 is coupled to the top side of the support structure 370.The reservoir 370 is positioned towards the back side of the offsetmanifold 320 such that back side of the reservoir 372 and the supportstructure are substantially flush. In other configurations the reservoir370 may be coupled to any other portion of the offset manifold 320, theoffset manifold assembly 300, or the system 100.

In the illustrated example configuration, the top side of the rightcassette 322 b is coupled to the bottom side of the support structure370 a such that the front side of the right cassette 322 b and thesupport structure 370 are substantially flush. The top side of the leftcassette 322 a is coupled to the bottom side of the support structure370 such that the back side of the left cassette 322 a and the supportstructure 370 are substantially flush. The center 380 of the offsetmanifold runs from the back side to the front side of the offset supportstructure between the left cassette and the right cassette and. Thecenter 380 of the offset manifold 320 approximately follows the manifoldpath 240 in the direction of movement of the offset manifold assembly300 and the system 100. One skilled in the art the

In the illustrated example configuration, the back side of the rightcassette 322 b is coupled to the valve assemblies 378 and nozzles 330 ofthe right cassette in a right sprayer group and the front side of theleft cassette is coupled to the valve assemblies and nozzles of the leftcassette in a left sprayer group. The nozzles and valve assemblies ofeach sprayer group are adjacently oriented such that the nozzles areapproximately linear. The line of the left sprayer group is parallel tothe line of the right sprayer group such that the lines are slightlyseparated and the offset nozzle row is approximately between the two.The left side of the right sprayer group is approximately flush with themidline and the right side of the left sprayer group is approximatelyflush with the midline. The sprayer groups are configured such thatindividual nozzles of the sprayer groups couple to the cassettes and canbe mechanically removed and replaced. Further, the sprayer groups can besubdivided into any number of nozzle subsets. The nozzles, valveassemblies, sprayer groups, cassettes, and nozzles subsets can take anyconfiguration to facilitate control of spraying treatment on the plantsof the field, similar as previously described.

The treatment feed tubes 374 fluidically couple the valve assemblies 378coupled to the left cassette 322 a and the valve assemblies 378 coupledto the right cassette 322 b to the reservoir 164. The treatment feedtubes 374 are constructed from plastic, aluminum, steel, or any othertubing material that can be used to fluidically couple components of thesystem.

The nozzle control connectors 376 electrically couple the valveassemblies 378 and nozzles 330 to the system controller. The nozzlecontrol connectors 376 are configured to transmit and receive thecontrol signals of each nozzle 330 and valve assembly 378. The controlsignals dictate release of treatments as the offset manifold 320 passesabove crops as the system 100 moves through a field.

VI. Valve Assemblies

Each manifold includes at least one nozzle coupled to at least one valveassembly. FIG. 4A shows a cross-sectional view of a valve assembly used400 in a plant treatment system, according to one example embodiment.The valve assembly 400 is designed such that a volume of fluid betweenthe bottom of the spring plunger and the top of the nozzle is as smallas possible. The reduced volume of liquid allows a full spray to developand shut off nearly instantaneously. The nozzle sprays fluid downwardstowards the crops along a spray axis (generally parallel or collinear tothe nozzle midline) when the valve assembly forces fluid into the nozzlevia the solenoid. Shutting of the flow of fluid through the nozzle isaccomplished by having the nozzle itself positioned where the springplunger seals off the flow. The valve assembly can be coupled to thesystem controller by nozzle control connectors to control the sprayingof treatment fluid onto the crops.

Each of the valve assemblies 400 comprise a solenoid 410, an armaturetube 420, a spring plunger 430, a valve O-ring 440, a valve body 450, ascreen filter 460, and a rubber seal 470 and is mechanically coupled toa nozzle 480. The valve assembly and constituent components have a topside (e.g. to the top of the page in the orientation of FIG. 4A), abottom side (e.g. to the bottom of the page in the orientation of FIG.4A), a proximal side (facing towards the spray axis), a distal side(facing away from the spray axis), and are substantially oriented aboutthe spray axis 480. The nozzle 480 may be any nozzle configurationdescribed below.

The solenoid 410 is a solenoid coil configured to electromagneticallycontrol the fluid exiting the nozzle assembly by manipulating the springplunger 430 by converting control signals from the system controller 130into mechanical motion of the solenoid 410. The solenoid 410 isconfigured such that the proximal facing solenoid 410 sidewalls arecoupled to the distal facing armature tube 420 sidewalls. The bottomside of the solenoid 410 is coupled to the top side of the valve body450 and near the top side of the armature tube 420 such that someportion of the armature tube 420 sidewalls extend past the bottom sideof the solenoid 410 and into the valve body 450.

The armature tube 420 is a cylindrical tube coaxial to the spray axis480 with the bottom side of the armature tube 420 including armaturewinglets 422. The armature winglets 422 extend radially outward from thespray axis on the bottom side of the armature tube. The proximal facingsidewalls of the armature tube 420 are coupled to the distal facingsidewalls of the spring plunger 430. A top portion of the distal facingsidewalls of the armature tube 420 are coupled to the solenoid 410 and abottom portion of the distal facing sidewalls are coupled to the upperO-ring 440. The armature tube couples the solenoid 410 to the springplunger 430 such that the solenoid is able to electromagneticallycontrol the spray of the nozzle via the spring plunger 430.

The valve O-ring 440 is a mechanical gasket in the shape of a torusconfigured to be seated between the top side of the armature tubewinglets 422 and the top side of the valve body 450. The valve O-ring440 is compressed during assembly of the valve assembly 400 between thearmature tube winglets 422 and the valve body 450 such that a fluidtight seal is created.

The spring plunger 430 is a substantially cylindrical in shape and iscentered about the spray axis 480. An upper portion of the distal facingsidewalls of the spring plunger 480 are coupled to the proximal facingsidewalls armature tube 420. A lower portion of the distal facingsidewalls of the spring plunger are coupled to the spring coils 432. Thebottom side of the spring plunger 430 is coupled to a rubber seal 470.The spring plunger 430 is configured to be controlled by the solenoid asthe spring plunger moves up and down the spray axis 480. When the springplunger 430 is moved upwards along the spray axis 480 by the solenoid410 the spring plunger 430 removes the rubber seal 470 from the nozzleand allows fluid to begin to fill the nozzle. When the spring plunger ismoved downwards along the spray axis by the solenoid the spring plungera volume of fluid is pushed into the nozzle 490 for the nozzle to sprayon the plants of the field. The spring plunger 430 is left in a downwardposition with the rubber seal 470 contacting the nozzle to prevent fluidfrom entering the nozzle for spraying.

The valve body 450 is configured to couple the components of the valveassembly to the manifold support structure and fluidically couple thereservoir 164 to the valve assembly 400. The valve body 450 includes avalve body cavity 452 and a fluid inlet cavity 454. The proximal facingsidewalls of the valve body cavity 452 are configured to act as a seatfor the nozzle 480 when the nozzle is coupled to the valve assembly 400.The fluid inlet cavity 454 is a cavity within the valve body configuredto fluidically couple the reservoir 164 to the valve body cavity 452.The valve body cavity 452 may fill with fluid when fluidically coupledto the reservoir 164 via the fluid inlet cavity 454 such that thetreatment fluid can be injected into the nozzle 480.

The screen filter 460 is a filter coupled to the valve body 450 andvalve body cavity 452, configured to filter particulates from thetreatment fluid before the treatment fluid can enter the nozzle. Thescreen filter 460 is oriented such that it separates the fluid inletcavity 454 from the valve body cavity 452 and filters out particulatesfrom the treatment fluid as the treatment fluid moves from the fluidinlet cavity 454 to the valve body cavity 452. Filtering particulatesfrom the treatment fluid can prevent the nozzle 480 from clogging duringoperation of the system 100.

FIG. 4B illustrates a tube valve assembly configured to couple to thesupport structure of the tube manifold of FIGS. 2C-2F. The tube valveassembly 402 is configured to mechanically and fluidically couple to acylindrical support structure. The tube valve assembly can include anycomponents that can mechanically couple the valve assembly to thesupport structure of a manifold including a latch 482, screws 484,clamps, locks 486, etc. The tube valve assembly can also include anycomponents that can fluidically couple the valve assembly to thereservoir 164 such as tubing, piping, O-rings 488, gaskets, etc. Thetube manifold fluidically couples the reservoir 164 to the fluid cavityinlet. In other configurations, the tube valve assembly can includeadditional support structures to couple adjacent tube valve assembliesinto a cassette of the tube manifold. In some embodiments, a singulartube valve assembly may be a cassette of the tube manifold.

FIG. 4C illustrates an offset valve assembly configured to couple to thesupport structure of the offset manifold of FIGS. 3C-3D. The offsetvalve assembly 404 functions similarly to the tube valve assembly, butis configured to mechanically and fluidically couple to a substantiallyrectangular support structure. The offset valve assembly can includesimilar components to the tube valve assembly for coupling adjacentoffset valve assemblies and fluidically coupling the valve assemblies tothe reservoir.

VII. Tri-Spray Nozzles

The tri-spray nozzle is a nozzle configured to mechanically andfluidically couple to any of the described valve assemblies andtreatment mechanisms. The tri-spray nozzle 500 is designed such that thespray pattern of treatment fluid exiting the tri-spray nozzleapproximates a circular area when sprayed by the system 100 on crops ina field. The nozzle sprays treatment fluid downwards towards the cropsalong a spray axis coaxial to the midline. Shutting off the flow offluid through the nozzle is accomplished by having the nozzle itselfpositioned where the spring plunger seals off the flow. The reducedvolume of liquid between the spring plunger and the nozzle allows a fullspray to develop and shut off nearly instantaneously.

FIG. 5A shows a cross-sectional view of a tri-spray nozzle used by thesystem from the front side, according to one embodiment. The tri-spraynozzle 500 can be described in three sections: the nozzle head 502, thenozzle body 504, and the nozzle tail 506. Additionally, the tri-spraynozzle and its constituent sections and components have a top side (e.g.to the top of the page in the orientation of FIG. 5A), a bottom side(e.g. to the bottom of the page in the orientation of FIG. 5A), a frontside (e.g. out of the page in the orientation of FIG. 5A), a back side(e.g. in to the page in the orientation of FIG. 5A), a distal side (e.g.away from the nozzle midline 508), and a proximal side (e.g. towards thenozzle midline 508).

The nozzle head 502 is shaped as a cylindrical annulus with a cavitycentered about the nozzle midline 508 coupled to the bottom side of acylindrical pyramid with a top flat surface and a central cavitycentered about the nozzle midline 508. The proximal facing sidewalls ofthe cylindrical pyramid and cylindrical annulus cavities are coaxiallycentered about the nozzle midline 508 and form at least some portion ofthe inlet cavity 510. The top side of the nozzle head 502 canmechanically couple with the bottom of the spring plunger and rubberseal of the valve assembly (not shown). The top side nozzle head 502includes a nozzle inlet 516 which can fluidically couple the inletcavity 510 with the valve assembly when the solenoid of the valveassembly mechanically decouples the spring plunger and rubber seal fromthe top side of the nozzle head 502. The bottom side of the inlet cavity510 is coupled to three inlet cavity bores 512.

The inlet cavity bores 512 are channels through the nozzle head 502 tothe nozzle body 504 which couple the inlet cavity 510 to the innercavity 512. The center inlet cavity bore is coaxial with the nozzlemidline 508. The outer inlet cavity bores are angled away from the sprayaxis from their top side to their bottom side at a 3° angle. In theillustrated configuration, the inlet cavity bores are oriented such thatthe treatment fluid diverges away from the midline of the nozzle 508 awhen the treatment fluid is sprayed. Further, when then treatment fluidinteracts with the plants it approximates a circular spot. In alternateembodiments, there may be any number of inlet cavity bores 512, and eachof the inlet cavity bores 512 can take any angle relative to the midline508 of the tri-spray nozzle 500 such that the treatment fluid movessubstantially downwards towards the crops when the fluid is sprayed bythe nozzle 500. Varying the angle and number of inlet cavity bores canbe used to configure the size and shape of the nozzle spray pattern.

The nozzle body 504 is coupled to the bottom side of the nozzle head502. The nozzle body 504 is substantially shaped as a cylindricalannulus with the proximal facing sidewalls of the cylindrical annuluscentered about the nozzle midline 508 and forming at least some portionof the inner cavity 520 and the outer cavity 530. An upper portion ofthe proximal facing sidewalls 522 a of the nozzle body form the innercavity 520 and a bottom portion of the proximal facing sidewalls 522 bof the nozzle body form the outer cavity 530. In the illustratedconfiguration, the inner cavity 520 has a smaller volume than the outercavity 530. The distal facing sidewalls of the nozzle body 504 can beconfigured with any number of ridges or grooves to assist inmechanically coupling other components of the tri-spray nozzle 500 tothe nozzle body 504. The inner cavity 520 is fluidically coupled to thenozzle inlet cavity 510 via the nozzle inlet bores 512. Further, theouter cavity 530 is fluidically coupled to the inner cavity 520.

In the illustrated embodiment, near the top side of the nozzle body 504is a groove configured for mechanically coupling the tri-spray nozzleO-ring 540 to the nozzle body 504. The tri-spray nozzle O-ring 540 is amechanical gasket in the shape of a torus configured to be seatedbetween the distal facing sidewalls of the nozzle body 504 and theproximal facing sidewalls of the fill cavity 452 of the valve assembly400. The tri-spray nozzle O-ring 540 is compressed during the mechanicalcoupling of the tri-spray nozzle 500 and the valve assembly 400 suchthat a fluid tight seal is created.

In the illustrated embodiment, near the bottom side of the nozzle body504 is a groove on the distal facing sidewalls of the nozzle body 504configured for mechanically coupling the tri-spray nozzle 500 to apull-tab 550. The pull tab 550 is configured to allow an operator of thesystem to remove the tri-spray nozzle from the valve assembly 400 andtreatment mechanism 120. The pull tab 550 can be any mechanicalcomponent such as a pull-ring, a latch, a handle, a knob, a ridge, orany other mechanical component that allows the removal of the nozzlefrom the valve assembly.

The bottom side of the nozzle body 504 is coupled to the top side ofnozzle tail 506. The nozzle tail 506 is substantially shaped as acylindrical annulus with the proximal facing sidewalls of thecylindrical annulus centered about the nozzle midline 508 and forming atleast some portion of the exit cavity 560. The exit cavity sidewalls 562taper away from the nozzle midline 508 towards the bottom of the nozzletail 506 and form an opening that is the nozzle exit. The exit cavity560 fluidically couples to the outer cavity 530 such that spray movingdownwards through the nozzle body 504 via the inner cavity 520, nozzlebores 512, and nozzle inlet cavity 510, can exit through the nozzle exit570.

FIGS. 5B-5E show illustrations of the tri-spray nozzles from differentviewpoints with the pull tab removed, according to one embodiment. FIG.5B illustrates the tri-spray nozzle 500 from the bottom side. FIG. 5Cillustrates the tri-spray nozzle from the top side; FIG. 5D illustratesthe tri-spray nozzle in an isometric view. FIG. 5E illustrates thetri-spray nozzle from the left side.

FIG. 5F illustrates cross-sectional view of an alternative configurationof the tri-spray nozzle. The configuration illustrated is substantiallysimilar to those of FIGS. 5A-5E with a alternatively designed inletcavity bores 512. In this configuration the inlet cavity bores include acylindrical laminar flow portion 512 a and a conical atomization portion512 b. The cylindrical laminar flow portion 512 a is mechanically andfluidically coupled to the bottom side of the nozzle inlet cavity 510.The bottom side of the laminar flow portion is mechanically andfluidically coupled to the top side of the atomization section 512 b.The bottom side of the conical atomization portion 512 b is mechanicallyand fluidically coupled to the top side of the outer cavity 530. In thisconfiguration, there is no inner cavity 520. The cylindrical laminarflow section 512 a is substantially cylindrical in shape and allowsfluid from the nozzle inlet to move downwards towards the plants in thefield. The conical atomization section 512 b is substantially conical inshape with an expansion in radius from the top side of the conicalsection to the bottom of the conical section. The conical atomizationsection 512 b allows fluid to move from the nozzle inlet 516 to movedownwards towards plants in the field. Generally, in the atomizationsection 512 b a solid flow moving from the nozzle inlet 516 towards theplants begins to break into smaller droplets.

More generally, the two sub-sections of the inlet cavity bores can takeany shape or alignment. Additionally, there can be greater than twosubsections to the inlet cavity bores. Tailoring sub-section shapes ofthe inlet cavity bores can assist in tailoring the spray pattern of eachnozzle.

VIII. Fan Nozzles

The fan nozzle is a nozzle configured to mechanically and fluidicallycouple to any of the described valve assemblies and treatmentmechanisms. The fan nozzle 600 is designed such that the spray patternof treatment fluid exiting the fan nozzle is substantially fan shapedwhen sprayed by the system 100 on crops in a field. Shutting of the flowof fluid through the nozzle 600 is accomplished by having the nozzleitself positioned where the spring plunger 430 seals off the flow. Thereduced volume of liquid between the spring plunger 430 and the fannozzle 600 allows a full spray to develop and shut off nearlyinstantaneously.

FIG. 6A is a head-on view of a nozzle, according to a first embodiment.The nozzle may be substantially cylindrical in shape and may feature acircular base 602. The base 602 features a nozzle inlet on its underside(not shown). A nozzle body 604 is connected to the top of the nozzlebase 602 and, in the case where both are substantially cylindrical, hasa lesser radius than the nozzle base 602. A trough 606, visible head-onin FIG. 6A, bisects the nozzle body 604. The trough 606 features anozzle exit 608 which is slit-like and is parallel to the inner walls ofthe trough 606.

FIG. 6B is a side view of the nozzle, according to a first embodiment.The view is transparent such that the nozzle exit 608 is visible throughthe side of the nozzle body 604.

FIG. 6C is a front-view cross-section view of the nozzle, according to asecond embodiment. The nozzle features a nozzle cavity 610 whichdiverges along the mid-plane and terminates at the nozzle exit 608. Thenozzle inlet 612 is visible at the bottom of the figure. The nozzleinlet 612 directs liquid into an inlet cavity 614, which in turn directsliquid into the fill hold 616. The fill hold 616 releases liquid intothe nozzle cavity 610. The nozzle cavity 610 features base fillets 618at its bottom ends.

The nozzle cavity 610 is bounded by diverging cavity walls 620, each ofwhich features non-parallel upper and lower portions 620 a and 620 brespectively, resulting in a piece-wise divergent shape. The upper andlower portions 620 a and 620 b of each cavity wall 620 are joined by awall fillet 622. The lower portions 620 b of the cavity walls 620diverge from each other at a defined expansion angle 632, therebyforming within the nozzle cavity 610 an expansion area 624. Theexpansion area 624 acts as an expansion zone for liquid expelled fromthe fill hold 616 into the nozzle cavity 610. The upper sections 620 aof the cavity walls 620 diverge from each other at a defined divergenceangle 632, thereby forming within the nozzle cavity 610 a divergencearea 626. The cavity walls 620 terminate at opposite ends of the nozzleexit 608.

FIG. 6d is side-view cross-section of the nozzle, according to a secondembodiment. This cross-section is perpendicular to the cross-sectionmid-plane view depicted in FIG. 6A. In FIG. 6C, the nozzle cavity 610 isbounded by two cavity walls 640 which converge toward and terminate atthe nozzle exit 608. The cavity walls 640 converge at a definedconvergence angle 642.

In alternate embodiments, the cavity walls of the nozzle cavity 610could be curved, and consequently these angles may vary as a function ofposition along a central axis running from the center of the nozzleinlet to the center of the nozzle exit 108 (not explicitly labeled). Inanother embodiment, the lower portions of the cavity walls 620 may becurved, and the upper portions of the cavity walls 620 may be straight.The spray pattern of this nozzle is substantially fan shaped.

IX. Bar Nozzles

The bar nozzle is a nozzle configured to mechanically and fluidicallycouple to any of the described valve assemblies and treatmentmechanisms. The bar nozzle 700 is designed such that the spray patternof treatment fluid exiting the bar nozzle approximates a rectangulararea when sprayed by the system 100 on crops in a field. Shutting of theflow of fluid through the nozzle is accomplished by having the nozzleitself positioned where the spring plunger seals off the flow. Thereduced volume of liquid between the spring plunger and the nozzleallows a full spray to develop and shut off nearly instantaneously.

FIGS. 7A and 7B show cross-sectional views of a bar nozzle used by thesystem from the front and from the left side, respectively, according toone embodiment. The bar nozzle 700 can be described in three sections:the nozzle head 702, the nozzle body 704, and the nozzle tail 706.Additionally, the bar nozzle and its constituent sections and componentshave a top side (e.g. to the top of the page in the orientation of FIG.7A), a bottom side (e.g. to the bottom of the page in the orientation ofFIG. 7A), a front side (e.g. out of the page in the orientation of FIG.7A), a back side (e.g. in to the page in the orientation of FIG. 7A), adistal side (e.g. away from the nozzle midline 708), and a proximal side(e.g. towards the nozzle midline 708).

The nozzle head 702 is shaped as a cylindrical annulus with a cavitycentered about the nozzle midline 708 coupled to the bottom side of acylindrical pyramid with a top flat surface and a central circularcavity centered about the nozzle midline 708. The proximal facingsidewalls of the cylindrical pyramid and cylindrical annulus cavitiesare coaxially centered about the nozzle midline 708 and form at leastsome portion of the inlet cavity 710. The top side of the nozzle headcan mechanically couple can mechanically couple with the bottom of thespring plunger and rubber seal of the valve assembly (not shown). Thetop side nozzle head includes a nozzle inlet 712 that couples which canfluidically couple the inlet cavity with the valve assembly when thesolenoid of the valve assembly mechanically decouples the spring plungerand rubber seal from the top side of the nozzle head 702.

The nozzle body 704 is coupled to the bottom side of the nozzle head.The nozzle body 704 is substantially shaped as a cylindrical annuluswith the proximal facing sidewalls of the cylindrical annulus centeredabout the nozzle midline 708 and forming at least some portion of theinlet cavity 710. The distal facing sidewalls of the nozzle body 704 canbe configured with any number of ridges or grooves to assist inmechanically coupling other components of the bar nozzle 700 to thenozzle body 704.

In the illustrated embodiment, near the top side of the nozzle body 704is a groove configured for mechanically coupling the bar nozzle O-ring720 to the nozzle body 704. The bar nozzle O-ring 720 is a mechanicalgasket in the shape of a torus configured to be seated between thedistal facing sidewalls of the nozzle body 704 and the proximal facingsidewalls of the fill cavity of the valve assembly. The bar nozzleO-ring 720 is compressed during the mechanical coupling of the barnozzle 700 and the valve assembly such that a fluid tight seal iscreated.

In the illustrated embodiment, near the bottom side of the nozzle body704 is a groove on the distal facing sidewalls of the nozzle body 704configured for mechanically coupling the bar nozzle 700 to a pull-tab730. The pull tab 730 is configured to allow an operator of the systemto remove the bar nozzle from the valve assembly. The pull tab 730 canbe any mechanical component such as a pull-ring, a latch, a handle, aknob, a ridge, or any other mechanical component that allows the removalof the nozzle from the valve assembly.

The bottom side of the nozzle body 704 is coupled to the top side ofnozzle tail 706. The nozzle tail 706 is a substantially rectangularshape including an upper fill cavity wall 742 and a lower fill cavitywall 744 with its short axis parallel to the manifold path its long axisparallel to the nozzle axis. The upper fill wall and lower fill wall areconfigured such that when the two are coupled the bar nozzle includes afill cavity 740 bounded by two walls. The upper fill cavity wallfluidically couples the fill cavity to the inlet cavity 710 through adivergence area 714, the divergence area a contoured cavity in thenozzle tail configured to spread fluid from the inlet cavity 710 to thefill cavity 740. The lower fill cavity 744 wall includes an array ofnozzle exits 750 orthogonal to the plane of the crop field configured toallow fluid from the fill cavity to exit the nozzle towards the externalenvironment. The treatment fluid sprays out from each nozzle exits in acolumn, the group of columns approximating a rectangle.

FIG. 7C illustrates an isometric view of a bar nozzle coupled to a valveassembly.

FIG. 7D illustrates an isometric view of a bar nozzle in an alternativeconfiguration. The configuration illustrated is substantially similar tothose of FIGS. 7A-7C with a alternatively designed upper fill cavitywall and lower fill cavity wall. In the illustrated configuration, theupper fill cavity wall 742 and the lower fill cavity wall 744 can bejoined by any number of latching mechanisms 746. The latching mechanismscan be a latch, a hinge, a clasp, a hook, Velcro, glue, or any othersuitable means of joining to walls. In this configuration, the lowerfill cavity 744 wall can be configured with any number of nozzle exitsor any shape of nozzle exit to affect the shape, pattern, or density ofthe spray of treatment fluid as it moves out of the nozzle. Further, theupper 742 and lower 744 fill cavity walls can include any number ofcomponents to create a fluid tight seal at the interface between the twowalls, such as a gasket, an O-ring, a waterproof sealant, a waterprooftape, or similar. Alternatively, rather than a component creating afluid tight seal, the upper 742 and lower 744 cavity walls can bedesigned and configured such that their mechanical coupling forms afluid tight seal without additional components.

FIG. 7E-7F illustrates an isometric view and cross-section view of a barnozzle in an alternative configuration, respectively. The configurationillustrated is substantially similar to those of FIGS. 7A-7C with analternatively designed upper fill cavity wall 742 and lower fill cavitywall 744. In the illustrated configuration the upper fill cavity walland lower fill cavity wall are substantially shorter than those of FIGS.7A-7C. The upper 742 and lower fill cavity walls 744 can take beconfigured in any length to tailor the spray pattern and the amount ofarea to which the spray is applied as fluid exits the nozzle.

X. Deflected Fan Nozzle

The deflected fan nozzle is a nozzle configured to mechanically andfluidically couple to any of the described valve assemblies andtreatment mechanisms. The deflected fan nozzle 800 is designed such thatthe spray pattern of treatment fluid exiting the deflected fan nozzleapproximates a fan that when sprayed by the system and interacts withthe crops of the field at an angle. Shutting of the flow of fluidthrough the nozzle is accomplished by having the nozzle itselfpositioned where the spring plunger seals off the flow. The reducedvolume of liquid between the spring plunger and the nozzle allows a fullspray to develop and shut off nearly instantaneously.

FIG. 8A shows a cross-sectional view of a deflected fan nozzle used bythe system from the side, according to one embodiment. FIG. 8B shows anisometric view of the deflected fan nozzle, according to one embodiment.The deflected fan nozzle 800 can be described in three sections: thenozzle head 802, the nozzle body 804, and the nozzle tail 806.Additionally, the deflected fan nozzle and its constituent sections andcomponents have a top side (e.g. to the top of the page in theorientation of FIG. 8A), a bottom side (e.g. to the bottom of the pagein the orientation of FIG. 8A), a front side (e.g. out of the page inthe orientation of FIG. 8A), a back side (e.g. in to the page in theorientation of FIG. 8A), a distal side (e.g. away from the nozzlemidline 808), and a proximal side (e.g. towards the nozzle midline 808).

The nozzle head 802 is shaped as a cylindrical annulus with a cavityrunning through the nozzle head coupled to the bottom side of acylindrical pyramid with a top flat surface and a central cavitycentered about the nozzle midline 808. The proximal facing sidewalls ofthe cylindrical annulus cavity form at least some portion of the inletcavity bore 810. The proximal facing sidewalls of the cylindricalpyramid cavity form at least some portion of the inlet cavity 820. Thetop side of the nozzle head 802 can mechanically couple with the bottomof the spring plunger and rubber seal of the valve assembly (not shown).The top side nozzle head 802 includes a nozzle inlet 822 which canfluidically couple the inlet cavity 820 with the valve assembly 400 whenthe solenoid of the valve assembly mechanically decouples the springplunger 410 and rubber seal from the top side of the nozzle head 802.The bottom side of the inlet cavity 820 is coupled to the top side ofthe inlet cavity bore three inlet cavity bore 810.

The inlet cavity bore 810 are channels through the nozzle head 804 andnozzle body 804 to the nozzle tail 806 which couple the inlet cavity 820to the inner cavity 830. The inlet cavity bore is angled across thenozzle midline 808 at a 15° angle. In the illustrated configuration, theinlet cavity bore 810 is oriented such that the treatment fluid divergesaway from the midline of the nozzle 808 when the treatment fluid issprayed. Further, when then treatment fluid interacts with the plantmaterial it approximates an offset fan. In alternate embodiments, theremay be any number of inlet cavity bores 810, and each of the inletcavity bores 810 can take any angle relative to the midline 808 of thedeflected fan nozzle 800 such that the treatment fluid movessubstantially downwards towards the crops when the fluid is sprayed bythe nozzle 800. Varying the angle and number of inlet cavity bores canbe used to configure the size and shape of the nozzle spray pattern.

The nozzle body 804 is coupled to the bottom side of the nozzle head802. The nozzle body 804 is substantially shaped as a cylindricalannulus with a top portion of the proximal facing sidewalls of thecylindrical annulus and forming at least some portion of the inletnozzle bore 810 and a bottom portion of the proximal facing sidewallsforming at least some portion of the inner cavity 830. The inner cavitysidewalls 832 are divergently angle from the nozzle midline such thatthe inner cavity expands as from the middle of the nozzle body to thebottom of the nozzle body. The distal facing sidewalls of the nozzlebody 804 can be configured with any number of ridges or grooves toassist in mechanically coupling other components of the deflected fannozzle 800 to the nozzle body 804.

In the illustrated embodiment, near the top side of the nozzle body 804is a groove configured for mechanically coupling the deflected fannozzle O-ring 840 to the nozzle body 804. The deflected fan nozzleO-ring 840 is a mechanical gasket in the shape of a torus configured tobe seated between the distal facing sidewalls of the nozzle body 840 andthe of the proximal facing sidewalls of the fill cavity 452 of the valveassembly 400. The deflected fan nozzle O-ring, 840 is compressed duringthe mechanical coupling of the deflected fan nozzle 800 and the valveassembly 400 such that a fluid tight seal is created.

In the illustrated embodiment, near the bottom side of the nozzle body804 is a groove on the distal facing sidewalls of the nozzle body 804configured for mechanically coupling the deflected fan nozzle 800 to apull-tab 850. The pull tab 850 is configured to allow an operator of thesystem to remove the deflected fan nozzle from the valve assembly 400and treatment mechanism 120. The pull tab 850 can be any mechanicalcomponent such as a pull-ring, a latch, a handle, a knob, a ridge, orany other mechanical component that allows the removal of the nozzlefrom the valve assembly.

The bottom side of the nozzle body 804 is coupled to the top side ofnozzle tail 806. The nozzle tail 806 is substantially shaped as acylindrical annulus with the proximal facing sidewalls of thecylindrical annulus centered about the nozzle midline 808 and forming atleast some portion of the inner cavity 830. The inner cavity sidewallsin the nozzle tail continue the sidewall divergence to the nozzle exit860. The inlet nozzle bore fluidically couples the inlet cavity to theinner cavity.

The deflected fan nozzle also includes a flow guide 870. The flow guideis a mechanical structure coupled to the top side of the inner cavityand configured to assist in shaping the spray pattern of the treatmentfluid as it exits the nozzle 800. The flow guide 870 is substantiallyrectangular in shape with a channel 872 structured on one face of theflow guide such that the flow guide includes two flow guide sidewalls874. The channel 872 of the flow guide 870 may have a radius ofcurvature such that the flow of treatment fluid as it exits the nozzleis deflected away from the nozzle midline 808. In some configurations,the bottom side of the flow guide may not be parallel to the top sideand can take any angle, the angle to assist in tailoring the spraypattern.

FIG. 8B shows an isometric view of the deflected fan nozzle fromdifferent viewpoints with the pull tab removed and O-ring, according toone embodiment.

XI. System Control Architecture

FIG. 9 is a block diagram of a combined system 900 for capturing imagesthat can be used to identify unique plant features to be sprayed as thesystem 100 moves through the field, according to one embodiment. In thisexample, plant identification device 902 is either a part of, or isphysically connected to the control system 130 of the system 100. One ormore cameras 112 of the detection system 110 associated with the device902 capture images of crops being grown in the field.

Generally, the cameras 112 capture data in a digital format where imagedata is stored at the granularity of pixels or subpixels. The cameras112 are affixed to the device 902 so as to be relatively close to thecrops themselves when images captured. In one example embodiment, theapproximate distance between the cameras and plants is on the order of1-100 inches, a specific example of which is 12 inches. The cameras 112may include fisheye lenses so that they are each able to capture lightover a very wide angle. This allow a single image captured by a camera112 to capture not only a plant directly in front of the camera 112, butalso plants located adjacent to the center plant along the row thevehicle 120 is traveling, something that would not be possible with alens with a narrower field of view given the short distance between thecameras 112 and the crops.

The image capture system 904 includes logic for communicating with thecamera/s 112 to initiate image capture, receive image data, perform anydesired processing on it, and communicate it to the crop image analysissystem 908. The image capture system 904 may be embodied as computerprogram software instructions running on computer hardware (e.g.,processor, memory, etc.) present on device 902, or it may be dedicatedcomputing hardware (e.g., a field programmable gate array (FPGA))designed to carry out these processes. This hardware may be shared incommon with the positioning system 906, or it may be dedicated andindependent hardware included in device 902 to carry out these tasks.

The positioning system 906 includes logic for determining the real-worldposition of the device 902. This may include global positioning, whichmay, for example, be provided by a global positioning system (GPS).Global positioning information includes position information at a firstscale, and would inform which field, among many, device 902 is locatedin, and a first order approximation of where the device 902 is withinthe field, such as which row of crops.

The crop image analysis system 908 receives position and imageinformation from the device 902, analyses it, and stores it for lateruse depending upon how the information is going to be used. Thepositions of unique plant features identified by the control system 130can be used in a variety of different processes as mentioned above, someof which involve using the analyses provided by the control system 130to carry out some action on device 902, such as the activation of asprayer via the spray control system 910.

The spray control system 910 determines the activation conditions ofsprayers as the system 100 moves through field. Generally, the spraycontrol system sends electrical control signals to the nozzles and valveassemblies to control when the nozzles release treatment fluid. Thespray control system may also be configured to change the orientationand configuration of the manifold assemblies, the manifolds, thecassettes, the nozzles, the spray groups, nozzle subsets, and spraypatterns to spray plant materials with treatment fluid based on theprocesses described above. Further, the spray control system may sendelectrical signals that control the parameters of the spray such asvolume of spray, area of spray, duration of spray, pressure of spray, orany other characteristic of the spray.

Depending upon the implementation, the control system 130 may either bea part of the system 100, such as part of a computer physically mountedwithin the system 100, or it may be a separate computer systemcommunicatively coupled to the system 100, for example via a CAN bus, ashort range wireless network (e.g., Bluetooth), a long range wirelessnetwork (e.g., Wi-Fi), etc.

The control system 130 may be embodied as computer program softwareinstructions running on computer hardware (e.g., processor, memory,etc.) 102 or it may be dedicated computing hardware itself (e.g., afield programmable gate array (FPGA). This hardware may be shared incommon with systems 104 and 106, particularly if they are allco-located, or it may be implemented with its own dedicated andindependent hardware.

XII. Additional Configurations

Most generally, the system 100 allows for spraying liquid onto a plantin a field using an array of N nozzle and valve assemblies (e.g.,fourteen, however, the exact number may vary in practice) spaced adistance apart (e.g., one inch) that precisely target plant materialover a crop's seed line in addition to the space between the adjacentseed lines. This array of nozzles can be grouped into any number sprayergroups and further subdivided into any number of sprayer subsets. Thearray of nozzles and valve assemblies can be coupled into cassettes andis generally called the manifold. The manifold is placed on an implementtowed behind a farming machine such as a tractor. The manifold isoriented such that the line of N sprayers is orthogonal to the directionof travel and parallel to a seed line . . . .

This system 100 can work where the seed lines can be variably spaced,for example anywhere from 8″ rows to 42″ rows. To allow the system tochange between row widths, the manifold is shaped such that adjacentmanifolds can nest for close spacing, or be expanded out for widerspaced seed lines.

The manifold assembly 100 allows precision spraying of a plant of anysize without affecting neighboring plants or soil. This allows thequantity of chemicals sprayed to be reduced by up to 99% of the quantityused in a traditional broadcast sprayer. The variety of chemicals thatcan be used in the manifold apparatus is much greater than traditionalbroadcast sprayers as the manifold can spray chemicals on a weed rightnext to a crop plant with minimal effect on the crop. This selectivespraying allows for a reduction of weeds that build up herbicideresistance yielding a useful lifespan of future crop protectants thatcan be far longer than what exists today.

The resolution of the manifold can also be configured based on thenozzle types. Some nozzles can be selected to apply treatment to a widearea (e.g. 5″ by 1″ rectangle) while others may be selected to applytreatment to large circle (e.g. a 4″ diameter circle). An exampleresolution for the smallest target can be as small as a 1 inch by 1 inchsquare, if not smaller.

In some embodiments, there can be two different types of treatment fluidused by the system. The system can be configured such that somemanifolds, nozzles, sprayer groups, or nozzle subsets spray onetreatment fluid while other manifolds, nozzles, sprayer groups, ornozzle subsets spray another treatment fluid. The fluidic couplings ofthe system can be configured to accomplish this with components similarto those described herein for each type of treatment fluid.

In some embodiments, the treatment reservoir can be fluidically coupledto the cassettes and valve assemblies such there is a constantcirculation of treatment fluid through the system during operation. Themanifolds and manifold assemblies may include any number of treatmentfeed tubes and pumps coupled to any part of the system to accomplishthis. Constant circulation of treatment fluid through the systemminimizes the risk of valve assemblies and nozzles clogging andincreases the particulate filtration through the system such thatgeneral operation is improved.

In the described embodiments, the manifolds of the manifold assembly canbe nested to create overlap between adjacent lines of nozzle exits. Insome configurations, the cassettes, sprayer groups, and sprayer subsetsof the manifolds can further actuated to create overlap between adjacentlines of nozzle exits.

The components of the described embodiments of the manifolds, manifoldassemblies, and nozzles have described in specific orientations anddirections for ease of description and clarity. However, one skilled inthe art will note that these orientations and directions can take otherformations such that the functionality of the components is maintained.

In some embodiments, each valve assembly may be coupled to more than onenozzle to allow a single valve assembly to control multiple nozzles. Inother embodiments, each nozzle may be coupled to multiple valveassemblies to allow the nozzle to be controlled by multiple valves oruse nozzles that require more than one valve.

XIII. Additional Considerations

In the description above, for purposes of explanation, numerous specificdetails are set forth in order to provide a thorough understanding ofthe illustrated system and its operations. It will be apparent, however,to one skilled in the art that the system can be operated without thesespecific details. In other instances, structures and devices are shownin block diagram form in order to avoid obscuring the system.

Reference in the specification to “one embodiment” or “an embodiment”means that a particular feature, structure, or characteristic describedin connection with the embodiment is included in at least one embodimentof the system. The appearances of the phrase “in one embodiment” invarious places in the specification are not necessarily all referring tothe same embodiment.

Some portions of the detailed descriptions, like the processes describedin FIGS. 4-5, are presented in terms of algorithms and symbolicrepresentations of operations on data bits within a computer memory. Analgorithm is here, and generally, conceived to be steps leading to adesired result. The steps are those requiring physical transformationsor manipulations of physical quantities. Usually, though notnecessarily, these quantities take the form of electrical or magneticsignals capable of being stored, transferred, combined, compared, andotherwise manipulated. It has proven convenient at times, principallyfor reasons of common usage, to refer to these signals as bits, values,elements, symbols, characters, terms, numbers, or the like.

It should be borne in mind, however, that all of these and similar termsare to be associated with the appropriate physical quantities and aremerely convenient labels applied to these quantities. Unlessspecifically stated otherwise as apparent from the following discussion,it is appreciated that throughout the description, discussions utilizingterms such as “processing” or “computing” or “calculating” or“determining” or “displaying” or the like, refer to the action andprocesses of a computer system, or similar electronic computing device,that manipulates and transforms data represented as physical(electronic) quantities within the computer system's registers andmemories into other data similarly represented as physical quantitieswithin the computer system memories or registers or other suchinformation storage, transmission or display devices.

The operations described herein can be performed by an apparatus. Thisapparatus may be specially constructed for the required purposes, or itmay comprise a general-purpose computer selectively activated orreconfigured by a computer program stored in the computer. Such acomputer program may be stored in a computer readable storage medium,such as, but is not limited to, any type of disk including floppy disks,optical disks, CD-ROMs, and magnetic-optical disks, read-only memories(ROMs), random access memories (RAMs), EPROMs, EEPROMs, magnetic oroptical cards, or any type of media suitable for storing electronicinstructions.

The figures and the description above relate to various embodiments byway of illustration only. It should be noted that from the followingdiscussion, alternative embodiments of the structures and methodsdisclosed herein will be readily recognized as viable alternatives thatmay be employed without departing from the principles of what isclaimed.

One or more embodiments have been described above, examples of which areillustrated in the accompanying figures. It is noted that whereverpracticable similar or like reference numbers may be used in the figuresand may indicate similar or like functionality. The figures depictembodiments of the disclosed system (or method) for purposes ofillustration only. One skilled in the art will readily recognize fromthe following description that alternative embodiments of the structuresand methods illustrated herein may be employed without departing fromthe principles described herein.

Some embodiments may be described using the expression “coupled” and“connected” along with their derivatives. It should be understood thatthese terms are not intended as synonyms for each other. For example,some embodiments may be described using the term “connected” to indicatethat two or more elements are in direct physical or electrical contactwith each other. In another example, some embodiments may be describedusing the term “coupled” to indicate that two or more elements are indirect physical or electrical contact. The term “coupled,” however, mayalso mean that two or more elements are not in direct physical orelectrical contact with each other, but yet still co-operate or interactwith each other. The embodiments are not limited in this context.

Also, some embodiments of the system, like the ones described in FIGS.2-3, may be further divided into logical modules. One of ordinary skillin the art will recognize that a computer or another machine withinstructions to implement the functionality of one or more logicalmodules is not a general purpose computer. Instead, the machine isadapted to implement the functionality of a particular module. Moreover,the machine embodiment of the system physically transforms the electronsrepresenting various parts of content and data representing userinteraction with the content into different content or data representingdetermined resonance.

As used herein, the terms “comprises,” “comprising,” “includes,”“including,” “has,” “having” or any other variation thereof, areintended to cover a non-exclusive inclusion. For example, a process,method, article or apparatus that comprises a list of elements is notnecessarily limited to only those elements but may include otherelements not expressly listed or inherent to such process, method,article or apparatus. Further, unless expressly stated to the contrary,“or” refers to an inclusive or and not to an exclusive or. For example,a condition A or B is satisfied by any one of the following: A is true(or present) and B is false (or not present), A is false (or notpresent) and B is true (or present), and both A and B is true (orpresent).

In addition, use of the “a” or “an” are employed to describe elementsand components of the embodiments herein. This is done merely forconvenience and to give a general sense of the system. This descriptionshould be read to include one or at least one and the singular alsoincludes the plural unless it is obvious that it is meant otherwise.

Upon reading this disclosure, those of skill in the art will appreciatestill additional alternative structural and functional designs for asystem and a process for detecting potential malware using behavioralscanning analysis through the disclosed principles herein. Thus, whileparticular embodiments and applications have been illustrated anddescribed, it is to be understood that the disclosed embodiments are notlimited to the precise construction and components disclosed herein.Various modifications, changes and variations, which will be apparent tothose, skilled in the art, may be made in the arrangement, operation anddetails of the method and apparatus disclosed herein without departingfrom the spirit and scope defined in the appended claims.

What is claimed is:
 1. A device for applying a treatment fluid to plantsin a field comprising: a plurality of manifolds, each manifoldcomprising: a plurality of nozzles each comprising a nozzle exit and anozzle inlet, the nozzle exit oriented to substantially face the field,the nozzle exits collectively aligned parallel to a nozzle axis that issubstantially perpendicular to a seed line of the plants in the field, aplurality of valve assemblies, the valve assemblies and nozzlesfluidically coupled to each other such that each nozzle is coupled toone or more valve assemblies or vice versa, each valve assemblycomprising a valve exit coupled to the corresponding nozzle inlet; amanifold assembly coupling the plurality of manifolds; wherein theplurality of manifolds of the manifold assembly are movably coupled suchthat the device comprises: an open state wherein a first and a second ofthe manifolds are positioned such that there is no overlap between thenozzles of the first and the second manifold along the nozzle axis, anda nested state wherein the first manifold and the second manifold arepositioned such that there is at least some overlap between the nozzlesof the first and the second manifold along the nozzle axis.
 2. Thedevice of claim 1, each manifold further comprising: a first cassettecoupling a first subset of the nozzles to the manifold; and a secondcassette coupling a second subset of the nozzles to the manifold.
 3. Thedevice of claim 2, wherein the first cassette and the second cassetteare oriented such that the first cassette and the second have a frontside, a back side, a left side and a right side, the first cassette andthe second cassette are offset along the nozzle axis such that there isno overlap between the nozzles of the first subset and second subset,and the first cassette and the second cassette are offset along the seedline such that there is no overlap between the nozzles of the firstsubset and the second subset.
 4. The device of claim 3, wherein thefirst cassette and the second cassette are oriented such that the backside of the first cassette is coplanar to the front side of the secondcassette along the nozzle axis, and the right side of the first cassetteis coplanar to the left side of the second cassette along the seed line.5. The device of claim 4, wherein in the nested state the first manifoldand the second manifold are positioned such that the back side of thefirst cassette of the first manifold overlaps the front side of thesecond cassette of the second manifold along the nozzle axis, and thefirst subset of nozzles of the first manifold at least partiallyoverlaps the second subset of nozzles of the second manifold along thenozzle axis.
 6. The device of claim 2, wherein the first cassette andthe second and are oriented such that the first cassette and the secondcassette have a front side, a back side, a left side and a right sidethe first cassette and the second cassette are offset along the nozzleaxis such that there is no overlap between the first subset and thesecond subset, the front side of the first cassette is coplanar to thefront side of the second cassette along the nozzle axis, and the rightside of the first cassette is coplanar to the left side of the secondcassette along the seed line.
 7. The device of claim 3, wherein in thenested state the first manifold and the second manifold are positionedsuch that the second manifold is offset from the first manifold alongthe seed line such that the nozzle exits of the second manifold arecollectively aligned parallel to the nozzle exits of the first manifold,and the first subset of the nozzles of the first manifold at leastpartially overlaps the second subset of the nozzles of the secondmanifold along the nozzle axis.
 8. The device of claim 2, wherein thenozzle exits of a first subset of the nozzles are a different size fromthe nozzle exits of a second subset of the nozzles.
 9. The device ofclaim 8, wherein the first subset includes a first number of nozzles andcorresponding valve assemblies, and the second subset includes a secondnumber of nozzles and corresponding valve assemblies, and wherein thefirst number and the second number are different.
 10. The device ofclaim 1, wherein the valve assembly further comprises an injectionsolenoid configured to inject the treatment fluid into the nozzle. 11.The device of claim 1 further comprising a treatment reservoirfluidically coupled to the valves assemblies, the treatment reservoirstoring the treatment fluid for treating the plant material.
 12. Thedevice of claim 1 further comprising a treatment reservoir storing thetreatment fluid for treating plant material fluidicially coupled to asecondary reservoir, the secondary reservoir fluidically coupled to thevalve assemblies of a first subset of the nozzles.
 13. The device ofclaim 12 further comprising an alternative treatment reservoir storing asecond treatment fluid for treating plant material fluidicially coupledto an alternative secondary reservoir, the alternative secondaryreservoir coupled to the valve assemblies of a second subset of thenozzles.
 14. The device of claim 12 wherein the first treatment fluid isdissimilar from the second treatment fluid.
 15. The device of claim 1further comprising a locomotion system for moving the device in thefield.
 16. The device of claim 2 wherein the manifold has a midlineapproximately between the first cassette and the second cassette andparallel to the seed line.
 17. The device of claim 1 further comprisingan manifold actuator coupled the manifold assembly, the manifoldactuator for configuring the plurality of manifolds between the openstate in the nested state.
 18. The device of claim 1 wherein themanifolds of the manifold assembly are movably coupled such that thedevice further comprises a composite state wherein a first manifold, thesecond manifold, and a third manifold are positioned such that there isno overlap between the nozzle of the first and second manifold, andthere is at least some overlap between the nozzles of the second andthird manifold along the nozzle axis.
 19. The device of claim 1 furthercomprising a plant detector system, the plant detector system configuredto determine when the plant material is beneath the nozzle exits.
 20. Adevice for applying a treatment fluid to plants in a field comprising: aplurality of manifolds, each manifold comprising: a plurality of nozzleseach comprising a nozzle exit and a nozzle inlet, the nozzle exitoriented to substantially face the field, the nozzle exits collectivelyaligned parallel to a nozzle axis that is substantially perpendicular toa seed line of the plants in the field, a plurality of valve assemblies,the valve assemblies and nozzles fluidically coupled to each other suchthat each nozzle is coupled to one or more valve assemblies or viceversa, each valve assembly comprising a valve exit coupled to thecorresponding nozzle inlet; a first cassette coupling a first subset ofthe nozzles to the manifold, a second cassette coupling a second subsetof the nozzles to the manifold, and a manifold assembly coupling theplurality of manifolds; wherein the first and the second cassette arepositioned such that the first cassette and the second cassette areoffset along the nozzle axis such that there is no overlap between thenozzles of the first subset and second subset, and the first cassetteand the second cassette are offset along the seed line such that thereis no overlap between the nozzles of the first subset and the secondsubset; wherein the plurality of manifolds of the manifold assembly aremovably coupled such that the device comprises: an open state wherein afirst and a second of the manifolds are positioned such that there is nooverlap between the nozzles of the first and the second manifold alongthe nozzle axis, and a nested state wherein a back side of the firstcassette of the first manifold overlaps a front side of the secondcassette of the second manifold along the nozzle axis, and the firstsubset of nozzles of the first manifold at least partially overlaps thesecond subset of nozzles of the second manifold along the nozzle axis.21. A device for applying a treatment fluid to plants in a fieldcomprising: a plurality of manifolds, each manifold comprising: aplurality of nozzles each comprising a nozzle exit and a nozzle inlet,the nozzle exit oriented to substantially face the field, the nozzleexits collectively aligned parallel to a nozzle axis that issubstantially perpendicular to a seed line of the plants in the field, aplurality of valve assemblies, the valve assemblies and nozzlesfluidically coupled to each other such that each nozzle is coupled toone or more valve assemblies or vice versa, each valve assemblycomprising a valve exit coupled to the corresponding nozzle inlet, afirst cassette coupling a first subset of the nozzles to the manifold, asecond cassette coupling a second subset of the nozzles to the manifold,and a manifold assembly coupling the plurality of manifolds; wherein thefirst and the second cassette are positioned such that the firstcassette and the second cassette are offset along the nozzle axis suchthat there is no overlap between the first subset and the second subset,the front side of the first cassette is coplanar to the front side ofthe second cassette along the nozzle axis, and the right side of thefirst cassette is coplanar to the left side of the second cassette alongthe seed line; wherein the plurality of manifolds of the manifoldassembly are movably coupled such that the device comprises: an openstate wherein a first and a second of the manifolds are positioned suchthat there is no overlap between the nozzles of the first and the secondmanifold along the nozzle axis, and a nested state wherein the secondmanifold is offset from the first manifold along the seed line such thatthe nozzle exits of the second manifold are collectively alignedparallel to the nozzle exits of the first manifold, and the first subsetof the nozzles of the first manifold at least partially overlaps thesecond subset of the nozzles of the second manifold along the nozzleaxis.